fix bug about visualize yaw (#1407)

047f7904 · VVsssssk · GitHub · c20b6cb6 · 047f7904
Unverified Commit 047f7904 authored Apr 20, 2022 by VVsssssk Committed by GitHub Apr 20, 2022
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mmdet3d/core/visualizer/open3d_vis.py mmdet3d/core/visualizer/open3d_vis.py +1 -1

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--- a/mmdet3d/core/visualizer/open3d_vis.py
+++ b/mmdet3d/core/visualizer/open3d_vis.py
@@ -95,7 +95,7 @@ def _draw_bboxes(bbox3d,
        center = bbox3d[i, 0:3]
        dim = bbox3d[i, 3:6]
        yaw = np.zeros(3)
-        yaw[rot_axis] = -bbox3d[i, 6]
+        yaw[rot_axis] = bbox3d[i, 6]
        rot_mat = geometry.get_rotation_matrix_from_xyz(yaw)

        if center_mode == 'lidar_bottom':